CN118696221A - Force detection device and robot - Google Patents
Force detection device and robot Download PDFInfo
- Publication number
- CN118696221A CN118696221A CN202280091890.4A CN202280091890A CN118696221A CN 118696221 A CN118696221 A CN 118696221A CN 202280091890 A CN202280091890 A CN 202280091890A CN 118696221 A CN118696221 A CN 118696221A
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- Prior art keywords
- fixed
- mounting
- detection device
- mounting portion
- robot
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- 238000001514 detection method Methods 0.000 title claims abstract description 30
- 238000009434 installation Methods 0.000 claims description 26
- 230000000149 penetrating effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
- G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/26—Auxiliary measures taken, or devices used, in connection with the measurement of force, e.g. for preventing influence of transverse components of force, for preventing overload
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Manipulator (AREA)
Abstract
A force detection device (1) is provided with: a first mounting unit (2) that is fixed to a first mounted surface (F); a second mounting unit (3) that is fixed to a second mounted surface (B) having a larger load variation than the first mounted surface (F); and a force sensor main body (4) fixed between the first mounting portion (2) and the second mounting portion (3), wherein the first mounting portion (2) comprises: a flat-plate-shaped or flange-shaped first portion (5) fixed to one end surface of the force sensor main body (4); a columnar second portion (6) having one end connected to the first portion (5) on the opposite side of the force sensor main body (4); and a third part (7) which is provided at the other end of the second part (6) and is fixed to the first to-be-mounted surface (F), wherein an axial gap of the second part (6) is formed between the first part (5) and the third part (7), and the second mounting part (3) is formed in a flat plate shape which is fixed to the other end surface of the force sensor main body (4) and has higher rigidity than the third part (7).
Description
Technical Field
The present disclosure relates to a force detection device and a robot.
Background
Conventionally, as a force detector which is hardly affected by deformation of an installation site, a force detector in which a gap is provided between a force sensor main body and an installation portion is known (for example, refer to patent document 1). Even if the surface on which the force sensor is mounted is deformed, stress acts on the mounting portion mounted on the surface, and the force transmission path is lengthened by the gap, the influence of stress generated by deformation, waviness, or the like of the mounting surface on the force sensor main body can be reduced.
Prior art literature
Patent literature
Patent document 1: japanese patent laid-open No. 2021-41482
Disclosure of Invention
Problems to be solved by the invention
However, in the case where a gap is provided between the force sensor main body and the mounting portion, the neck for providing the gap causes a decrease in rigidity of the portion, and therefore, when a large load is applied, the force sensor main body deforms in an unexpected direction, resulting in a decrease in detection accuracy. Therefore, it is desirable to prevent degradation of detection accuracy due to large variations in the load of the mounted device.
Solution for solving the problem
A force detection device is provided with: a first mounting section fixed to the first mounted surface; a second mounting portion fixed to a second mounted surface having a larger load variation than the first mounted surface; and a force sensor main body fixed between the first mounting portion and the second mounting portion, the first mounting portion including: a flat plate-like or flange-like first portion fixed to one end face of the force sensor main body; a columnar second portion having one end connected to a side of the first portion opposite to the force sensor main body; and a third portion that is provided at the other end of the second portion and is fixed to the first mounted surface, wherein an axial gap of the second portion is formed between the first portion and the third portion, and the second mounting portion is formed in a flat plate shape that is fixed to the other end surface of the force sensor main body and has higher rigidity than the third portion.
Drawings
Fig. 1 is a side view illustrating a robot having a force detection device according to an embodiment of the present disclosure.
Fig. 2 is a partial side view illustrating a base and a force detecting device of the robot of fig. 1.
Fig. 3 is a plan view showing an adapter provided in the robot of fig. 1.
Fig. 4 is a graph showing a relationship between the thickness of the adapter and the error amount of the force detection device.
Fig. 5 is a table showing the relationship among various robots, the ratio α, and the thickness t1 of the adapter.
Detailed Description
Hereinafter, a force detection device 1 and a robot 100 according to an embodiment of the present disclosure will be described with reference to the drawings.
As shown in fig. 1, a robot 100 according to the present embodiment includes: a vertical six-axis articulated robot body 110, and a force detection device 1 fixed to a ground surface (first surface to be mounted) F.
The force detection device 1 includes: a first mounting portion 2 fixed to the ground F; a second mounting portion for fixing a bottom surface (second mounted surface) B of the mounting flange 130, the mounting flange 130 being provided on the base 120 of the robot main body 110; and a force sensor main body 4 fixed between the first mounting portion 2 and the second mounting portion. The force sensor main body 4 includes a deformation detector, for example, a resistive strain gauge (not shown), that detects deformation of the force sensor main body due to an external force. The force sensor main body 4 is a six-axis sensor that detects the magnitude and direction of force applied to the force sensor main body.
The first mounting portion 2 is formed by machining a casting. The first mounting portion 2 may be formed by cutting a metal block, or may be formed by other methods. The first mounting portion 2 may be manufactured as one piece to control manufacturing costs. As shown in fig. 2, the first mounting portion 2 includes, in order from top to bottom: a first part 5, a second part 6 and a third part 7.
The first portion 5 has an upper surface to which the force sensor main body 4 is fixed, and is formed in a flat plate shape extending at least in the horizontal direction.
The second portion 6 is formed in a columnar shape extending at least downward from the lower surface of the first portion 5.
The third portion 7 is formed in a flat plate shape extending at least in the horizontal direction at a lower portion of the second portion 6, and is fixed to the ground F.
As shown in fig. 2, a gap X in the up-down direction is formed between the first portion 5 and the third portion 7. In other words, the second portion 6 is formed with a constriction whose diameter is smaller in the horizontal direction than the first portion 5 and the third portion 7. In the present embodiment, the gap X between the first portion 5 and the third portion 7 formed by necking is formed over the entire circumference around the central axis O.
The third portion 7 of the first mounting portion 2 is provided with four through holes for inserting bolts 8 at predetermined positions in the circumferential direction around the center axis. The through holes 9 are arranged on the same circumference around the central axis o and on the outside in the horizontal direction from the first portion 5.
Each through hole 9 is provided near the outline of the third portion 7. The vicinity of the outline is located further to the outside than the midpoint of the straight line connecting the center axis o and the end of the outline of the third section 7. As shown in fig. 2, the first mounting portion 2 including the third portion 7 can be fixed to the ground F by fastening the bolt 8 inserted into the through hole 9 to the screw hole 10 formed in the ground F.
A through hole 12 is provided in the first portion 5 of the first mounting portion 2, and the through hole 12 is used to fix the first mounting portion 2 and the force sensor main body 4 by a plurality of bolts 11 in the vicinity of the outline of the first portion 5 near the outer periphery.
The second mounting portion is a flat plate-like adapter (adapter) 3 fixed to the upper surface of the force sensor main body 4 and having higher rigidity than the third portion 7. As shown in fig. 3, the adapter 3 is formed in a substantially square flat plate shape in a plan view, has an outer shape identical to the outline shape of the bottom surface B of the base 120, and has four screw holes 13 in the vicinity of the outer shape of the adapter 3 on the same circumference around the central axis. The adapter 3 is provided with a plurality of through holes 14 formed at intervals in the circumferential direction at positions between the central axis and the screw holes 13, and is fixed to the upper surface of the force sensor main body 4 by bolts 15 penetrating through the through holes 14.
In the robot of the present embodiment, the base 120 of the robot body 110 has a state of a cup with a hollow inside and an open bottom surface B being inverted, and the four corners thereof are provided with the installation flanges 130 for fixing to the adapter 3. The installation flange 130 is provided with four through holes 16, and the four through holes 16 are disposed at positions corresponding to the four screw holes 13 of the adapter 3 serving as the second mounting portion in a state where the bottom surface B of the installation flange 130 provided on the base 120 is brought into close contact with the upper surface of the adapter 3.
The bolts 17 penetrating through the respective penetrating holes 16 are fastened to the screw holes 13 of the adapter 3, whereby the robot body 110 is fixed to the force detection device 1.
In this case, the robot 100 of the present embodiment is formed in the following shape: the ratio alpha of the sum of the thickness dimension t1 of the adapter 3 as the second mounting portion and the thickness dimension t2 of the installation flange 130 to the size A of the installation flange 130 is equal to or greater than a predetermined threshold Th,
α＝(t1+t2)/A≧Th。
The thickness dimension t1 of the adapter 3 is greater than the thickness dimension t2 of the mounting flange 130.
Fig. 4 shows a graph of the error amount of the force detection device 1 when the thickness dimension t1 of the adapter 3 is changed by analysis and calculation. As can be seen from this figure, if the thickness dimension t1 of the adapter 3 exceeds a predetermined size, the error amount of the force detection device 1 is greatly reduced.
In addition, even if the thickness of the adapter 3 is small, if the thickness dimension t2 of the installation flange 130 of the robot body 110 fixed to the adapter 3 is large, it is considered that the same effect can be obtained.
Therefore, by forming the shape such that the ratio α of the sum of the thickness dimension t1 of the adapter 3 and the thickness dimension t2 of the installation flange 130 to the size a of the installation flange 130 is equal to or greater than the predetermined threshold value Th, the error amount of the force detection device 1 can be greatly reduced. That is, the larger the thickness dimension t2 of the installation flange 130 of the robot body 110, the larger the thickness dimension t1 of the adapter 3 is set, or the smaller the size a of the installation flange 130 is set, the higher the effect of reducing the error amount is.
Here, as the size a of the installation flange 130, for example, in the case of using a perimeter of a quadrangle (indicated by a broken line in fig. 3) formed by connecting centers of four bolts 17 fixing the installation flange 130 and the adapter 3, the predetermined threshold Th is 4%. Fig. 5 shows the relationship among the various robots R1 to R8, the ratio α, and the thickness dimension t1 of the adapter 3.
As can be seen from this, in many robots 100, the error amount of the force detection device 1 can be reduced by satisfying the above relationship. In addition, even in the robot 100 having the ratio α of 4% or less, the error amount of the force detection device 1 can be reduced by adjusting the thickness dimension t1 of the adapter 3 so that the ratio becomes 4% or more.
According to the force detection device 1 and the robot 100 of the present embodiment configured as described above, a gap (gap in the axial direction of the second portion 6) X in the up-down direction is formed between the third portion 7 fixed to the ground surface F and the first portion 5 fixed to the force sensor main body 4. Thereby, the force transmission path from the outer periphery of the third portion 7 to the first portion 5 is extended by the amount of the gap X.
That is, according to the present embodiment, when the bolt 8 is inserted through the insertion hole 9 provided in the third portion 7 and fastened to the screw hole 10 provided in the ground F, the influence of the stress generated in the third portion 7 due to the deformation of the ground F and the surface waviness on the force sensor main body 4 can be reduced. This can improve the accuracy of detecting the force acting on the robot body 110 even when the ground F is deformed or undulated.
In addition, according to the robot 100 of the present embodiment, the adapter 3 to which the flange 130 of the base 120 of the robot body 110 is attached is formed in a flat plate shape having a sufficiently large thickness dimension. This can sufficiently increase the rigidity of the adapter 3 as compared with the first mounting portion 2 in which the influence of the deformation of the ground surface F is reduced by the clearance X.
As a result, even if a large load fluctuation is applied to the adapter 3 as the second mounting portion due to the operation of the robot body 110, the force sensor body 4 can be prevented from being deformed in an unexpected direction. That is, even if the base 120 of the robot body 110 has a cup-shaped low-rigidity structure having an opening at the bottom surface B of the installation flange 130, deformation of the base 120 due to large load fluctuation can be suppressed by fixing the installation flange 130 to the adapter 3 having a large thickness dimension. This has an advantage that the force sensor body 4 can prevent a decrease in the detection accuracy of the force.
In the present embodiment, the installation flange 130 of the base 120 of the robot body 110 and the adapter 3 are connected by four bolts, and the installation flange 130 is formed in a quadrangular circumferential shape formed by connecting the centers of the four bolts 17. Alternatively, a diagonal length of a quadrangle may be used as the size a of the setting flange 130.
In the case of fixing by three bolts 17, the size a of the installation flange 130 may be a circumference of a triangle formed by connecting the centers of the three bolts 17. In addition, the circumference or diameter of a circle passing through the centers of the three bolts 17 may be set to the size a of the set flange 130.
Reference numerals illustrate:
1 force detection device
2 First mounting part
3 Adapter (second mounting part)
4 Force sensor body
5 First part
6 Second part
Third part 7
100 Robot
110 Robot body
120 Base
130 Are provided with flanges
B bottom surface (second mounted surface)
F floor (first quilt installation surface)
X gap
Claims (8)
1. A force detection device is characterized by comprising:
A first mounting section fixed to the first mounted surface;
a second mounting portion fixed to a second mounted surface having a larger load variation than the first mounted surface; and
A force sensor main body fixed between the first mounting portion and the second mounting portion,
The first mounting portion includes: a flat plate-like or flange-like first portion fixed to one end face of the force sensor main body; a columnar second portion having one end connected to a side of the first portion opposite to the force sensor main body; and a third portion provided at the other end of the second portion and fixed to the first mounted surface,
An axial gap of the second portion is formed between the first portion and the third portion,
The second mounting portion is formed in a flat plate shape fixed to the other end surface of the force sensor main body and having higher rigidity than the third portion.
2. A force detection device according to claim 1, wherein,
The second mounted surface is provided on a mounting flange fixed to the second mounting portion in a state of being in close contact with a surface of the second mounting portion,
The second mounting portion has a thickness dimension greater than the mounting flange.
3. A force detection device according to claim 2, wherein,
A ratio of a sum of a thickness dimension of the installation flange and a thickness dimension of the second installation portion to a size of the installation flange is equal to or greater than a predetermined threshold.
4. A force detection device according to claim 2 or 3, characterized in that,
The first mounted surface is a ground surface,
The second mounted surface is a bottom surface of the mounting flange provided on the base of the robot body.
5. The force detecting apparatus of claim 4, wherein,
The second mounting portion has an outer shape identical to the contour shape of the bottom surface.
6. A robot is characterized by comprising:
The force detection device of claim 4 or 5; and
And a robot body, wherein the bottom surface of the robot body is fixed to the second mounting part of the force detection device.
7. A robot is characterized by comprising:
A force detection device; and
A robot body, the bottom surface of which is provided with a flange fixed to the force detection device,
The force detection device is provided with: a first mounting portion fixed to the ground; a second mounting portion fixed to the mounting flange; and a force sensor main body fixed between the first mounting portion and the second mounting portion,
A ratio of a sum of a thickness dimension of the installation flange and a thickness dimension of the second installation portion to a size of the installation flange is equal to or greater than a predetermined threshold.
8. The robot of claim 7, wherein the robot is configured to move the robot arm,
The first mounting portion includes: a flat plate-like or flange-like first portion fixed to one end face of the force sensor main body; a columnar second portion having one end connected to a side of the first portion opposite to the force sensor main body; and a third portion provided at the other end of the second portion and fixed to the ground,
An axial gap of the second portion is formed between the first portion and the third portion.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2022/007835 WO2023162122A1 (en) | 2022-02-25 | 2022-02-25 | Force detection device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118696221A true CN118696221A (en) | 2024-09-24 |
Family
ID=87765010
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202280091890.4A Pending CN118696221A (en) | 2022-02-25 | 2022-02-25 | Force detection device and robot |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JPWO2023162122A1 (en) |
| CN (1) | CN118696221A (en) |
| DE (1) | DE112022005566T5 (en) |
| TW (1) | TW202333925A (en) |
| WO (1) | WO2023162122A1 (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015200355B3 (en) * | 2015-01-02 | 2016-01-28 | Siemens Aktiengesellschaft | A medical robotic device with collision detection and method for collision detection of a medical robotic device |
| JP3204177U (en) * | 2016-03-01 | 2016-05-19 | 株式会社レプトリノ | Force detection system |
| JP6342971B2 (en) * | 2016-11-14 | 2018-06-13 | ファナック株式会社 | Force detection device and robot |
| JP6553700B2 (en) * | 2017-11-24 | 2019-07-31 | ファナック株式会社 | Force detection device and robot |
| JP7277319B2 (en) | 2019-09-10 | 2023-05-18 | ファナック株式会社 | robot |
-
2022
- 2022-02-25 CN CN202280091890.4A patent/CN118696221A/en active Pending
- 2022-02-25 JP JP2024502357A patent/JPWO2023162122A1/ja active Pending
- 2022-02-25 WO PCT/JP2022/007835 patent/WO2023162122A1/en active Application Filing
- 2022-02-25 DE DE112022005566.9T patent/DE112022005566T5/en active Pending
-
2023
- 2023-02-10 TW TW112104871A patent/TW202333925A/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| DE112022005566T5 (en) | 2024-10-02 |
| TW202333925A (en) | 2023-09-01 |
| JPWO2023162122A1 (en) | 2023-08-31 |
| WO2023162122A1 (en) | 2023-08-31 |
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